<<PackageHeader(ifm_o3mxxx)>>
<<TOC(4)>>

= Overview =
This package includes the basic ROS drivers for IFM O3Mxxx for  publishing Pointcloud2 messages, depth image and raw message with sensor  specific information. It has been tested with O3M150 and O3M250. The  code is based on IFM sample codes for parsing the ethernet based  communication data. The data is then repacked into ROS compatible  formats.

== Published topics ==
 * ifm_o3mxxx_pc ([[http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html|sensor_msgs/PointCloud2]]) Valid points of the pointcloud

 * ifm_o3mxxx_raw (ifm_o3mxxx/IFMO3mxxx) Raw sensor information coming from IFM sensor
  * Header header
  * uint16[1024] distance_data
  * float32[1024] x
  * float32[1024] y
  * float32[1024] z
  * uint16[1024] confidence
  * uint16[1024] amplitude
  * float32[4] amplitude_normalization
  * uint32 available
  * uint16 height
  * uint16 width
  * float32 trans_x
  * float32 trans_y
  * float32 trans_z
  * float32 rot_x
  * float32 rot_y
  * float32 rot_z

 * ifm_o3mxxx/depth/raw ([[http://docs.ros.org/api/sensor_msgs/html/msg/Image.html|sensor_msgs/Image]]) Depth image of valid points

== Parameters ==
 * Port (int, default: 4599)
 * IP (string, default: "255.255.255.255")
 * frame_id (string, default: "ifm")
 * OutDepthImageTopic (string, default: "ifm_o3mxxx_depth_image")

 * PointCloudTopic (string, default: "ifm_o3mxxx_pc")

 * RawTopic (string, default: "ifm_o3mxxx_raw")

= TODO =
Only the PointCloud2 information and raw sensor information has been  used. The depth image has not been used much(other than visualization),  so it should be tested before before you start using it. Also the image  interface might need more work(mo calibration etc. is taken into  consideration yet).

[[O3M151|O3M150]] and [[O3M251|O3M250]] produce object information instead of point cloud.  These functionalities could (probably) be added to the driver but  currently I do not have such decive at hand.

= Acknowledgement =
This driver has been developed at [[http://www.tut.fi/en/home|Tampere University of Technology]], [[http://www.tut.fi/en/research/research-fields/automation-and-hydraulic-engineering/index.htm|Laboratory of Automation and Hydraulics(AUT)]]



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